Robot System And Wiring Method For Robot System
AssigneeDenso Wave Incorporated
InventorDaisuke KAWASE
Life of this patent
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Abstract
In a robot system that is configured by a master controller and a slave controller, an input path of a safety input signal and an output path of an enable signal outputted from a safety monitoring unit within the master controller are wired to enable output outside of the master controller, an operating switch and the master controller are connected by a connection cable, the master controller and the slave controller are connected by a connection cable, a control unit of the slave controller is connected to the input path of the safety input signal, and a contact for power is connected to the output path of the enable signal.
Claims17
A wiring method for a robot system provided with a plurality of robot controllers which perform an emergency stop operation through operation of a single operating switch, wherein the robot controllers being classified into a single master controller and one or more slave controllers, the master controller including i) a first safety monitoring unit that performs an emergency stop operation based on whether or not the safety input signal that has passed through the operating switch is inputted, and ii) a second safety monitoring unit that performs the emergency stop operation and outputs an enable signal based on whether or not the safety signal that has passed through the operating switch is inputted, the slave controller including i) the first safety monitoring unit and ii) emergency stopping means that operates by the enable signal,
- the wiring method comprising:
- wiring, in the master controller of the robot system, an input path of a safety input signal that has passed through the operating switch and an output path of the enable signal outputted from the second safety monitoring unit of the master controller to enable output outside of the master controller;
- connecting the operating switch and the master controller with a first connection cable;
- and
- connecting the master controller and the slave controller of the robot system with a second connection cable, and in the slave controller, connecting the first safety monitoring unit to an input path of a safety input signal and connecting the emergency stopping means to the output path of the enable signal.
A robot system, comprising:
- a plurality of robot controllers which perform an emergency stop operation through operation of a single operating switch, wherein the robot controllers being classified into a single master controller and one or more slave controllers, the master controller including i) a first safety as monitoring unit that performs an emergency stop operation based on whether or not the safety input signal that has passed through the operating switch is inputted, and ii) a second safety monitoring unit that performs the emergency stop operation and outputs an enable signal based on whether or not the safety signal that has passed through the operating switch is inputted, the slave controller including i) the first safety monitoring unit and ii) emergency stopping means that operates by the enable signal;
- wiring means, in the master controller of the robot system, wiring an input path of a safety input signal that has passed through the operating switch and an output path of the enable signal outputted from the second safety monitoring unit of the master controller to enable output outside of the master controller;
- a first connection cable connecting the operating switch and the master controller with a first connection cable;
- and
- a second connection cable connecting the master controller and the slave controller of the robot system, and
- connecting means, in the slave controller, connecting the first safety monitoring unit to an input path of a safety input signal and connecting the emergency stopping means to the output path of the enable signal.
Dependencies are inferred from the claim text.